velocitycontroldriver.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef  VELOCITY_CONTROL2D_NETWORK_DRIVER_H
00012 #define  VELOCITY_CONTROL2D_NETWORK_DRIVER_H
00013 
00014 #include <orca/velocitycontrol2d.h>
00015 #include <orcaice/context.h>
00016 
00017 #include "networkdriver.h"
00018 
00019 namespace orcateleop
00020 {
00021 
00022 class Display;
00023 
00024 class VelocityControl2dDriver : public NetworkDriver
00025 {
00026 
00027 public:
00028     VelocityControl2dDriver( Display* display, const orcaice::Context& context );
00029 
00030     virtual ~VelocityControl2dDriver();
00031     
00032     virtual int enable();
00033     
00034     virtual int disable();
00035 
00036     virtual void repeatCommand();
00037 
00038     virtual void processMixedCommand( double longitudinal, bool isLongIncrement, 
00039         double transverse, bool isTransverseIncrement, 
00040         double angular, bool isAngularIncrement );
00041     virtual void processIncrementCommand( int longitudinal, int transverse, int angular );
00042     virtual void processRelativeCommand( double longitudinal, double transverse, double angular );
00043 
00044     // May throw std::exceptions
00045     void enableWithString( const std::string &proxyString );
00046     
00047 private:
00048 
00049     void sendCommand();
00050 
00051     orca::VelocityControl2dPrx prx_;
00052     orca::VelocityControl2dData command_;
00053 
00054     double speedIncrement_;     // [m/s]
00055     double turnRateIncrement_;  // [rad/sec]
00056 
00057     double maxSpeed_;     // [m/s]
00058     double maxTurnRate_;  // [rad/sec]
00059 
00060     Display* display_;
00061     orcaice::Context context_;
00062 };
00063 
00064 } // namespace
00065 
00066 #endif